robotic Robotic manipulator jacobianJacobian by product of exponentials
I've taken a class and started a thesis on robotics and my reference for calculating the jacobianJacobian by product of exponentials seems incorrect., see:
specificallySpecifically the resulting jacobianJacobian matrix for the SCARA manipulator on page 118 would have us believe that the end effector translational velocity depends on joints 2 and 3 rather than 1 and 2. Please
Could someone please explain. me why?